Robot Trajectory Reversal With Replanned Speed Profiles
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Solution Overview
Problem
Industrial robots face challenges in safely and efficiently moving out of cramped environments, with manual processes being time-consuming and reversing user programs being complex.
Innovation Solution
A machine with a control device and mechanism that records a trajectory in one operating mode and replans the speed profile to move along the recorded path in the opposite direction in a second operating mode, allowing for safe and efficient reversal without simply playing the memory backwards.
Engineering Contradictions & Design Principles
Engineering Contradiction Analysis
1Reliability
If manual process is used to move robot arm out of cramped environment, then safety is improved, but time consumption increases
Solution Approach 1:
The system records the trajectory in advance during the first operating mode, storing position data points that define the movement path. This preliminary recording enables the robot to automatically reverse along the same path without manual intervention, thus improving safety while reducing time consumption.
Solution Approach 2:
The system creates a digital copy of the movement trajectory by storing position data in memory. This copied trajectory information is then used in the second operating mode to guide the robot arm along the reverse path, eliminating the need for manual operation and reducing time consumption while maintaining safety.
2Extent of automation
If user program is run backwards to move robot arm out of critical area, then automation is improved, but complexity increases
Solution Approach 1:
The system extracts only the essential trajectory information (position data points) from the complete user program. By storing only these critical position points in memory rather than the entire program, the system achieves automation while significantly reducing complexity.
Solution Approach 2:
The movement trajectory is segmented into discrete position data points that are stored in memory. This segmentation allows the control device to reconstruct and follow the reverse path using simple positional information rather than complex program logic, thereby improving automation while reducing overall system complexity.
3Loss of time
If speed profile is simply reversed from original trajectory, then time saving is improved, but movement precision deteriorates
Solution Approach 1:
The system dynamically adapts the speed profile for reverse movement based on the stored trajectory characteristics. Rather than simply reversing the original speed profile, the control device calculates an optimized speed profile that accounts for the reverse direction requirements, maintaining both time efficiency and movement precision.
Solution Approach 2:
The system changes the speed parameters when moving in reverse direction. The control device adjusts velocity and acceleration parameters based on the reverse trajectory requirements, ensuring that movement precision is maintained while still achieving time savings compared to manual operation.
Data Source
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AI summary
The invention relates to a machine (1) and to a method for operating a machine (1). The machine comprises a mechanism (2) having at least two components (3-7) which are arranged relative to one another and can be moved relative to one another with respect to an axis (A1-A6) by means of at least one drive of the machine (1), a memory (11), and a control apparatus (10) which is coupled to the at least one drive and is set up to control the at least one drive to move the mechanism (2) in a first operating mode in such a manner that the mechanism (2), in particular a distinguished point (TCP) assigned to the mechanism (2), moves along a movement path, to record the movement path in the memory (11) in the first operating mode, and to control the at least one drive on the basis of the movement path recorded in the memory (11) in a second operating mode in such a manner that the mechanism (2), in particular the distinguished point (TCP), moves along the movement path recorded in the memory (11).